author =		 "Nakanishi, J. and  Mistry, M. and  Peters, J. and  Schaal, S.",
  year =		 "2007",
  title =		 "Experimental evaluation of task space position/orientation control towards compliant control for humanoid robots",
  booktitle =		 "IEEE International Conference on Intelligent Robotics Systems (IROS 2007)",
  key =			 "operational space control, quaternion, task space control, resolved motion rate control, resolved acceleration, force control",
  URL =			 "[0].pdf",
  crossref =		 "p3019"